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fix: firmware rm sendMessege inside the setup
ex: simple_i2c.ino ex: unoq test_simple.ino
1 parent 9982d50 commit d95134f

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3 files changed

+330
-6
lines changed

3 files changed

+330
-6
lines changed

‎examples/firmware/firmware.ino‎

Lines changed: 0 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -233,14 +233,8 @@ void setup(){
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tof.begin();
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alvik.getVersion(version[0], version[1], version[2]);
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msg_size = packeter.packetC3B(0x7E, version[0], version[1], version[2]);
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// alvik.serial->write(packeter.msg,msg_size);
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sendMessage(packeter.msg,msg_size);
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alvik.updateBMS();
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msg_size = packeter.packetC1F('p', alvik.getBatteryChargePercentage());
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// alvik.serial->write(packeter.msg,msg_size);
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sendMessage(packeter.msg,msg_size);
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alvik.setLedBuiltin(LOW);
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alvik.setLeds(COLOR_BLACK);

‎examples/simple_i2c/simple_i2c.ino‎

Lines changed: 59 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,59 @@
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#include "Arduino_AlvikCarrier.h"
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Arduino_AlvikCarrier alvik;
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uint8_t version[3];
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unsigned long led_update = 0;
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bool led_state = false;
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volatile uint8_t lastCommand = 0xfe;
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uint32_t lastcolor = COLOR_BLACK;
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// Called when master sends data
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void receiveEvent(int bytes) {
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while (alvik.ext_wire->available()) {
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lastCommand = alvik.ext_wire->read();
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}
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alvik.setLedLeft(++lastcolor);
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lastcolor = lastcolor%(COLOR_WHITE+1);
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}
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// Called when master requests data
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void requestEvent() {
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byte response = lastCommand + 1; // Simple response logic
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alvik.ext_wire->write(response);
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}
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void setup() {
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alvik.begin();
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alvik.ext_wire->onReceive(receiveEvent);
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alvik.ext_wire->onRequest(requestEvent);
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alvik.disableIlluminator();
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alvik.setLeds(COLOR_ORANGE);
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alvik.setLedBuiltin(HIGH);
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alvik.getVersion(version[0], version[1], version[2]);
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alvik.updateBMS();
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alvik.setLedBuiltin(LOW);
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alvik.setLeds(COLOR_BLACK);
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}
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void loop() {
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if (millis()-led_update>=200) {
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led_update=millis();
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if (led_state) {
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alvik.setLedRight(COLOR_RED);
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} else {
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alvik.setLedRight(COLOR_BLACK);
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}
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led_state=!led_state;
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}
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}

‎examples/unoq/test_simple/test_simple.ino‎

Lines changed: 271 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,271 @@
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#include <Wire.h>
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#define ALVIK_I2C_ADDRESS 0x2B
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// Command codes (from Alvik firmware)
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#define CMD_SET_RPM 'J' // Set wheel RPM (left, right)
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#define CMD_SET_DRIVE 'V' // Set linear/angular velocity
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#define CMD_SET_WHEEL 'W' // Set individual wheel control
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#define CMD_SET_POSITION 'A' // Set wheel positions
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#define CMD_SET_SERVO 'S' // Set servo angles
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#define CMD_SET_LEDS 'L' // Set LED colors
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#define CMD_SET_PID 'P' // Set PID parameters
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#define CMD_ROTATE 'R' // Rotate by angle
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#define CMD_MOVE 'G' // Move distance
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#define CMD_RESET_POSE 'Z' // Reset pose (x, y, theta)
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#define CMD_ACK_CONFIRM 'X' // ACK confirmation
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#define CMD_SET_BEHAVIOUR 'B' // Set behaviour
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#define CMD_REQUEST '#' // Request data publication
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// Request sub-commands
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#define REQ_VERSION 'v'
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#define REQ_BATTERY 'b'
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#define REQ_IMU 'i'
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#define REQ_MOTORS 'm'
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#define REQ_ACK 'k'
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#define REQ_SENSORS 's'
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uint8_t txBuffer[128];
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// Statistics
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struct Statistics {
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uint32_t packetsSent = 0;
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uint32_t packetsReceived = 0;
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uint32_t i2cErrors = 0;
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uint32_t checksumErrors = 0;
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unsigned long lastResponseTime = 0;
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};
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Statistics stats;
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void setup() {
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Serial.begin(115200);
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delay(2000);
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Serial.println("\n\n======================================");
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Serial.println("Alvik Protocol I2C Tester");
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Serial.println("======================================\n");
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Wire1.begin();
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Serial.println("I2C Master initialized");
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Serial.print("Alvik slave address: 0x");
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Serial.println(ALVIK_I2C_ADDRESS, HEX);
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// Scan for Alvik
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Serial.println("\nScanning for Alvik...");
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if (scanForAlvik()) {
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Serial.println("✅ Alvik found!");
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} else {
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Serial.println("❌ Alvik not found!");
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Serial.println("Check I2C connections and address");
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}
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Serial.println("\n======================================");
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Serial.println("Test Menu:");
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Serial.println(" 1 - Request Version");
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Serial.println(" 2 - Request Battery");
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Serial.println(" 3 - Request IMU");
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Serial.println(" 4 - Request Line Sensor");
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Serial.println(" 5 - Request Touch Sensor");
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Serial.println(" 6 - Request Color Sensor");
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Serial.println(" 7 - Request ToF Sensors");
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Serial.println(" 8 - Set LEDs (cycle colors)");
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Serial.println(" 9 - Set Motor RPM (test)");
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Serial.println(" 0 - Stop Motors");
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Serial.println(" s - Show statistics");
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Serial.println(" r - Reset statistics");
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Serial.println("======================================\n");
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}
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void loop() {
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// Check for serial commands
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if (Serial.available()) {
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char cmd = Serial.read();
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handleCommand(cmd);
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receiveI2CData(8);
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}
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delay(10);
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}
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bool scanForAlvik() {
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Wire1.beginTransmission(ALVIK_I2C_ADDRESS);
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uint8_t error = Wire1.endTransmission();
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return (error == 0);
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}
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void receiveI2CData(int size) {
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for (int i = 0; i < size; i++) {
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Wire1.requestFrom(ALVIK_I2C_ADDRESS, 1);
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if (Wire1.available()) {
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Serial.print("📥 Received ");
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//while (Wire1.available()) {
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uint8_t b = Wire1.read();
109+
Serial.print("0x");
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Serial.print(b, HEX);
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Serial.print(" ");
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//}
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Serial.println();
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stats.packetsReceived++;
117+
stats.lastResponseTime = millis();
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}
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}
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}
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bool sendI2CData(const uint8_t* data, uint8_t length) {
124+
Wire1.beginTransmission(ALVIK_I2C_ADDRESS);
125+
Wire1.write(data, length);
126+
uint8_t error = Wire1.endTransmission();
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128+
if (error == 0) {
129+
stats.packetsSent++;
130+
Serial.print("📤 Sent ");
131+
Serial.print(length);
132+
Serial.print(" bytes: ");
133+
printHex(data, length);
134+
return true;
135+
} else {
136+
stats.i2cErrors++;
137+
Serial.print("❌ I2C Error: ");
138+
Serial.println(error);
139+
return false;
140+
}
141+
}
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143+
uint8_t createRequestPacket(uint8_t* buf, uint8_t cmd, uint8_t id = 0) {
144+
buf[0] = CMD_REQUEST;
145+
buf[1] = cmd;
146+
buf[2] = id;
147+
return 3;
148+
}
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150+
void handleCommand(char cmd) {
151+
uint8_t length = 0;
152+
static uint8_t ledColor = 0;
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154+
switch (cmd) {
155+
case '1': // Request Version
156+
Serial.println("\n>>> Requesting version...");
157+
length = createRequestPacket(txBuffer, REQ_VERSION);
158+
sendI2CData(txBuffer, length);
159+
break;
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161+
// case '2': // Request Battery
162+
// Serial.println("\n>>> Requesting battery...");
163+
// length = createRequestPacket(txBuffer, REQ_BATTERY);
164+
// sendI2CData(txBuffer, length);
165+
// break;
166+
//
167+
// case '3': // Request IMU
168+
// Serial.println("\n>>> Requesting IMU...");
169+
// length = createRequestPacket(txBuffer, REQ_IMU);
170+
// sendI2CData(txBuffer, length);
171+
// break;
172+
//
173+
// case '4': // Request Line Sensor
174+
// Serial.println("\n>>> Requesting line sensor...");
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// length = createRequestPacket(txBuffer, REQ_SENSORS, SENSOR_LINE);
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// sendI2CData(txBuffer, length);
177+
// break;
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//
179+
// case '5': // Request Touch Sensor
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// Serial.println("\n>>> Requesting touch sensor...");
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// length = createRequestPacket(txBuffer, REQ_SENSORS, SENSOR_TOUCH);
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// sendI2CData(txBuffer, length);
183+
// break;
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//
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// case '6': // Request Color Sensor
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// Serial.println("\n>>> Requesting color sensor...");
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// length = createRequestPacket(txBuffer, REQ_SENSORS, SENSOR_COLOR);
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// sendI2CData(txBuffer, length);
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// break;
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//
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// case '7': // Request ToF Sensors
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// Serial.println("\n>>> Requesting ToF sensors...");
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// length = createRequestPacket(txBuffer, REQ_SENSORS, SENSOR_TOF);
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// sendI2CData(txBuffer, length);
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// break;
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//
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// case '8': // Set LEDs (cycle colors)
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// Serial.println("\n>>> Setting LEDs...");
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// ledColor = (ledColor + 1) % 8;
200+
// length = createLEDPacket(txBuffer, ledColor);
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// sendI2CData(txBuffer, length);
202+
// Serial.print("LED color: ");
203+
// Serial.println(ledColor);
204+
// break;
205+
//
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// case '9': // Test motor RPM
207+
// Serial.println("\n>>> Setting motor RPM (50, 50)...");
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// length = createRPMPacket(txBuffer, 50.0f, 50.0f);
209+
// sendI2CData(txBuffer, length);
210+
// break;
211+
//
212+
// case '0': // Stop motors
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// Serial.println("\n>>> Stopping motors...");
214+
// length = createRPMPacket(txBuffer, 0.0f, 0.0f);
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// sendI2CData(txBuffer, length);
216+
// break;
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218+
case 's': // Show statistics
219+
case 'S':
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printStatistics();
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break;
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case 'r': // Reset statistics
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case 'R':
225+
resetStatistics();
226+
break;
227+
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default:
229+
break;
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}
231+
}
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233+
void printHex(const uint8_t* data, uint8_t length) {
234+
for (uint8_t i = 0; i < length; i++) {
235+
Serial.print("0x");
236+
if (data[i] < 16) Serial.print("0");
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Serial.print(data[i], HEX);
238+
Serial.print(" ");
239+
}
240+
Serial.println();
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}
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243+
void printStatistics() {
244+
Serial.println("\n======================================");
245+
Serial.println("STATISTICS");
246+
Serial.println("======================================");
247+
Serial.print("Packets sent: ");
248+
Serial.println(stats.packetsSent);
249+
Serial.print("Packets received: ");
250+
Serial.println(stats.packetsReceived);
251+
Serial.print("I2C errors: ");
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Serial.println(stats.i2cErrors);
253+
Serial.print("Checksum errors: ");
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Serial.println(stats.checksumErrors);
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Serial.print("Last response: ");
256+
if (stats.lastResponseTime > 0) {
257+
Serial.print((millis() - stats.lastResponseTime) / 1000);
258+
Serial.println(" seconds ago");
259+
} else {
260+
Serial.println("never");
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}
262+
Serial.println("======================================\n");
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}
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void resetStatistics() {
266+
stats.packetsSent = 0;
267+
stats.packetsReceived = 0;
268+
stats.i2cErrors = 0;
269+
stats.checksumErrors = 0;
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Serial.println("\n✅ Statistics reset\n");
271+
}

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